Remote-control system and apparatus



A. G. @@@LEY @AMAN REMOTE CONTROL SYSTEM AND APPARATUS Filed Oct. 28, 1943 4 Sheets-Sheet l I3 c L IMC WNW/@M1005 'wm-0H fil IN VEN TOR.

A G.COOLE Y Nov.; 19, 15946 A. G. QOOLEY REMOTE CONTROL SYSTEM AND APPARATUS Filed OGL 28, 1943 HJVIENTOR. AAB .COO

REMOTE CONTROL SYSTEM AND APPARATUS Filed Oct. 28, 1943 4 `Sheets-Sheet 3 Nov. 19, 1946. A G, @Cm www REMOTE CONTROL SYSTEM AND APPARATUS Filed Oct. 28, 1943 4 Sheets-Sheet 4 NI/ENTOR. A.G.COOL EY Mlm 'GM/wb) Patented Nov. 19, 1946 REMOTE-CONTROL SYSTEM AND APPARATUS Austin G. Cooley,

Times Telephoto Equi N. Y., a corporation of New York, N. Y., assignor to pment Inc., New York, New York Application October 28, 1943, Serial No. 508,041

6 Claims. l

This invention relates to the remote control of the position oi' objects, such as guns, searchlights, pointers and the like, through the instrumentality of electric motors.

One object of the invention is to provide a remote control system in which the position of the movable object may be controlled with great precision and in which considerable power is available, if required.

Another object of the invention is to provide a system of the above-mentioned character in which the number of conductors or circuits between the control station and the receiving station is reduced to a minimum, and in which the construction of the apparatus employed is simpler than that heretofore proposed.

A further object of the invention is to provide an electrical remote control system in which the control current transmitted from the control station to the receiving station is of such character that it may be amplified at the receiving station to supply the operating power required at that point without introducing an error in the response of the motor mechanism.

vA still further object of the invention is to provide improved control apparatus responsive to the diierence in phase or frequency between two a1- ternating currents. Y

In accordance with the invention, accurate control oi an object to be controlling the' speed of a continuously rotating single-phase synchronous motor. In its preferred form, two synchronous motors or two synchronous elements of a combined motor are differentially connected to actuate the controlled (operating) member or shaft in accordance with the diierence in speeds between the two motors or motor elements. The speed of one or both of the motor elements is controlledjliy,v varying the phase or frequency from the primary station or control station to the receiving station. The frequency of the control current is preferably oi' the order of 1000 or 2000 cycles per second, the motor element being constructed to run on current of this frequency and to follow variations in frequency to effect the desired control. The control current may be amplied at the receiving station without ailecting the accuracy of control and may be transmitted over long high-resistance or inductive circuits without difilculty, since'the essential'characteristic of the control current, i. e., the frequency, will not be changed by alterations in the electrical characteristics of the connecting circuit or the amplifier.

positioned is effected by 30 of the curreiftf'oircurrents transmitted 4o Other objects and advantages ofthe invention will become apparent from the following description of the preferred embodiments thereof shown in the accompanying drawings, wherein Fig. 1 is a diagrammatic view of a remote control system utilizing two synchronous motors at the receiving station, one operating at constant speed and the other at variable speed.

Fig. 2 is a similar view of a system utilizing a single control circuit for a plurality of transmission channels.

Fig. 3 is a view of a modified form of phaseshifting means that may be used at the control station.

Fig. 4 illustrates another modification employing optical elements.

Fig.,5 is a plan view of the disc shown in Fig. 4.

Fig. 6 illustrates a form of motor mechanism in which no differential gearing is required.

Fig. 7 is a diagrammatic View of another modiiication of the system according to the invention.

Referring to the drawings, Fig. 1 illustrates a remote control system 'comprising two singlephase synchronous motors II and I2 connected to an alternating-current supply circuit I3. The motors II and I2 are arranged to drive amember I4 (constituting or connected to an object to be controlled) through differential gearing I5, whereby the member I4 is moved in accordance With the difference in speeds of the motors I I and I2.

In order to vary the relative speeds of the motors II and I2 to eifect desired control of the member I4, means is provided to alter the phase or frequency of the current supplied to the motor I2. As shown, phase-shifting means I6 of the type capable of shifting phase more than 360 is connected between the supply circuit I3 and motor I2. The phase-shifting means I6 comprises two stationary field poles Il and I8 disposed 90 apart and provided with windings connected to the circuit I3 directly and through a condenser I8, respectively. The capacity of the condenser I9 is such that the magnetization of one field pole is displaced 90 with respect to the other pole. The armature consists of two opposite salient poles 20 having windings connected in series so that the sum of the induced currents is substantially constant in any position of the armature and is retarded or advanced in phase as the armature is rotated by the hand-wheel 2|. With Ithe described arrangement, it will be evident that lmotor II rotates at a constant speed and the 'speed of motor I2 is dependent upon the adjustment of the phase-shifting means I6, the rota- `animer m tion of the armature of motor i2 being advanced or retarded two poles with respect to the armature of motor ii for each complete revolution of the armature of the phase-shifting means.

The frequency of the alternating current supplied to the motors ii and i2 is preferably of the order of 1000 'or' 2000 cycles and the motors may be of the reluctance or phonic wheel type similar to that described in my prior Patent No. 2,257,158, dated September 30, 1941. If desired, other synchronous motors of known design adapted to operate on the particular frequency chosen may 'be utilized in carrying out the invention. However frequencies in the so-called audible-frequency range are advantageous for many applications oi the invention. In particular, control currents of this frequency may be transmitted at low power level and ampliiied at the receiving station in a vacuum-tube amplifier to increase the power available without affecting the accuracy of control. Furthermore, separate frequencies for driving the motors may be transmitted over a single control circuit and separated yat the receiving station by conventional nlters.

A system of this character is illustrated in Fig. 2 wherein an oscillator 26, for example of a frequency of 1800 cycles, is utilized to generate the control frequency. The oscillator 24 having a constant frequency output is connected through phase-shifting means 25, which may be similar to the phase-shifting means it of Fig. 1, to one primary winding 26 of a transformer 27. The oscillator 2d is also connected through a frequency changer 28 to a second primary winding 29 of transformer 2l, so that a constant frequency of, say 1200 cycles, is applied to the winding 29. Currents of a frequency of 1800i cycles and of a constant frequency of 1200 cycles are induced in the secondary winding 30 of transformer 2l, said secondary winding being connected to the control circuit Si. At the receiving station,y a singlephase synchronous motor 365 is connected to the control circuit 3i through the 1800-cycle filter 35 and an amplifier 36, whereby the motor 3d is driven by the 1800-cycle component of the transmitted current, amplified as may be required to give the necessary power output. A second synchronousrmotor 3i, similar to the motor 363 but driven at constant speed by the 1200-cycle component of the current in the control circuit, is connected to the control circuit through the 1200= cycle nlter 38 and an ampliiier 39. The member l0 to be controlled from the primary station or control station is connected through dierential gearing li to be moved in accordance with variationsin the speed of the motor 3d as the adjustment of the phase-shifting means 25 at the control station is changed. If the motors 311i and si have equal numbers of poles, the motor te will.

run on. l800cycle current at one and one-half times the speed of the motor et on 1200-cycle current. Accordingly gearing 32 may be provided to establish the desired speed relation between the drive gears of the differential gearing ii or, alternatively, the motors may be designed to run at the same speed on diierent frequencies.

It will be apparent that the object to be controlled may be positioned or moved, in the systems shown in Figs. 1 and 2, precisely in accordance with the adjustment of the phase-shifting means, and the accuracy of control is not affected by variations in the supply voltage or other variations which are likely to occur, such as the resistance, inductance or leakage resistance of the control circuit, or changes in the gain of the amplifiers. Considerable power is available, if required, and this power need not be transmitted over the control circuit. No attempt has been made to illustrate the exact proportions and structural details of the phase-shifting means it. 2b, as such devices are well irnown in the art and are described in prior publications, including my prior Patent No. 2,138,398, dated No= vember 29, i938.

A modifledforrn of phase-shifting means which may be used at the control station invplace of means 2b is illustrated in Fig. 3. This construction may be small and compact so that less torque is vrequired and a greater phase shift obtained with a given angular displacement of the control member. As shown, it comprises a movable control member 45 in the form of a plate or vane which is integral with or secured to a compass or other instrument or control element. The mov able vane db is provided with spaced iron inserts de supported for movement along a row of translating devices in the form of stationary electromagnets d8, 69, 50 and si. The spacing between the inserts i6 is such that as the right-hand edge of one insert is moved to the middle of the core of the magnet 65B, the left-hand edge of the next insert lies above the middle of the core of the electromagnet 5 i, and the width of the inserts is substantially equal to the distance between the cen tral axes of adjacent magnet cores so that the magnetic iiux induced in said inserts remains constant as the vane l5 is moved (assuming that the electromagnets are of equal strength).

The electromagnets dit, d2, 50 and Eil are connected to an alternating-current supply circuit 53, for example of a frequency of the order of 1000 or 2000 cycles. However a condenser td'is connected in series with electromagnet 130 to displace vthe phase of the current traversing its coil Similarly, means such as a .transformer 55 land condenser 5d is provided to displace the phase of the currents traversing the electromagnets t@ and 5i by 180 and 270, respectively, with reference to that traversing' the electromagnet de. In this manner .the algebraic sum of ythe vfiuires in the insert it opposite the electromagnets is shifted in phase 360 as the insert is moved from a' position approaching magnet dit to a position beyond magnet 5i (or vice versa). A stationary magnetizable core 5e opposite the electromagnets tit- 5i carries a pick-up coil d@ in which current is induced of the same frequency as that of the' f supply circuit 53 but retarded or advanced Vin phase by 360 as each insert d@ moves past the The terminals of the pick-up coil d@ are connected to the control channel, for example 'as illustrated in connection with the phaseshifting means 25 in Fig. 2. in ythis manner the speed of a synchronous motor at the remote station is varied in accordance with the movement or adjustment of a controlling member attached to the vane 55.

Another modified construction of phase-shift-vv Y ing means utilizing a series of translating devices of different character that may be employed at the primary or control station is 'shown in Figs. e and 5. in this arrangement, a pivoted-disc iii having a series of equally spaced holes t2 around its periphery is employed in an optical system to shift the phase of an alternating current to any desired extent (from a fraction of a cycle toseveral cycles or more). The disc Si is arranged to be turned bythe control element. In the particu-` lar embodiment illustrated, a fluctuating limiti- Q., source 65 is arranged to illuminate a series of Y photocells 88, 81, 88 and 88 through successive planoconvex lenses 1| and 12,'and an aperture` plate 18, is constructed and arranged to cause the beam of light passing through the holes in the disc 8| to sweep over the photocells one after the other as the disc rotates.

The lenses 1|, 12, and the aperture in the plate 18 are correlated with the size and spacing of the holes 82 and the location and extent of the cathodes of the photocells to insure that the total output current from the cell or cells illuminated at any instant remains substantially constant. The spacing of the holes 82 is such that as one hole moves past the edge of the aperture in the plate 18, the adjacent hole permits light from the source 88 to strike one of the end cells. Thus the photocells are successively and repea-tedly illuminated with pulsating light from the lamp 85, always in the sequence 88-88-81--88 when the holes in the disc 8| traverse .the light field in the direction indicated by the arrow, and in the sequence 88-81-88-89 for rotation of the disc in the opposite direction.

In accordance with the invention, the output currents of lthe respective cells are phase-controlled in a predetermined manner and combined in the primary winding of a transformer 18 so that a control voltage is generated in the secondary winding of said transformer which is uniformly and continuously shifted in phase as the disc 8| is rotated. As shown. a .conventional two-stage amplifier comprising tubes 11 and 18 is provided for the photocell 88. A similar amplifier 19, 80 is provided for the photocell 81, except that a condenser 8i is connected in the input circuit of the tube 19 to displace the output current 90 with respect to that of the amplifier 11, 18. Likewise the amplifier 82, 83 for the photocell 88 includes a coupling transformer 84 so that the output current is displaced 180 with respect to that of the amplifier 11, 18; and the amplifierA 85, 88 for the photocll 89 is similar to 'the ampliiler 82, 88 except for the condenser 81 arranged to effect a further phase displacement of 90. or a total of 270 with respect to the output current from the first cell 88. The phase-control arrangement illustrated is preferred but a modified arrangement may be employed in carrying out the invention if desired.

Instead of using two separate synchronous mo tors and differential gearing', as shown in Figs. 1

and 2. a unitary motor mechanismV having two synchronous motor elements as 4shown in Fig. 6 may be used. Referring to this figure, a preferred form of motor mechanism comprises upper and lower toothed rotors 80 and 9| secured to a shaft 92 which is supported for rotation in the motor casing 88. Each of said rotors is disposed between a pair of salient field poles 94, 95 and 96, 81, respectively, thus forming two separate synchronous motors with their rotors mounted on the same shaft. Each rotor may be connected to the shaft 82 through a resilient connection, as described in my Patent No. 2,276,936, dated March 17, 1942. The shaft 82 also carries an armature 88 of a universal motor element which is employed to bring the synchronous motors up to speed in starting. The start motor includes a stationary core member provided withfleld windings |80 and |0I, and a commutator |02 as shown. The field poles 84 and 88 lare carried by a rotatable yoke or frame |05 on a shaft |08 projecting from the motor casing 83, said shaft being provided with a worm thread |01 at the upper end thereof meshing with a worm gear |08, and slip rings |08 through which current is supplied to the -field Ywindings H0, Ill on the fleld poles 84 and 95.

The motor` terminals, connecting leads and other conventional elements of the motor are not illustrated in detail for the sake of simplicity. The numbers of teeth in the rotors and 8| have a predetermined ratio, say 2:'3 incase frequencies of 1200 and 1800 cycles are supplied to the respective motor elements, so that normally there is no tendency for the field poles 84, 85 to rotate and the shaft |08 remains stationary. When the relative phase or frequency of the currents supplied to the motors is changed by the phase-shifting means at the control station, the shaft |08 is rotated to a corresponding extent. As shown, the worm gear |08 may be attached to a pointer ||8 to indicate the change in adjustment of the control means at the control station. A bell-crank lever I 8 and rod ||1 may also be provided to actuate an object to be controlled. As stated, the mechanism described is merely illustrative of the principles of the invention and the structural details may be widely varied without departing from the invention.

Another modification of the remote control system embodying the invention is shown in Fig. '1. Referring to this gure, an electric motor |2| is shown at the primary or control station, said mo tor being arranged to drive two alternating-current generators |22 and |28 to generate control currents of constant frequencies, say 1200 and 1800 cycles per second. The generators 22 and |23 are connected to the control circuit |24 through two phase-shifting devices |25 and |28. These devices may be similar to that shown in Fig. 1, 3 or 4, and are arranged for control in the opposite sense 'by a hand-wheel |21, i. e., the phase of the output currents from the generators is shifted in opposite directions when the handwheel |21 is turned, thus providing a more rapid change in the frequency ratio of the control currents. A position indicator |28 is also shown at the control station to indicate to the operator or attendant the position of the controlled device at the remote station. This position indicator may be constructed like the synchronous-motor mechanism of Figs. 1 and 2, or that shown in Fig. 6, and may also be used at the control station in the systems of Figs. 1 and 2, if desired. AA lter-amplifler |29 for the 1200-cycle current and a second filter-amplifier |80 for the 1800-cycle current are connected between the control circuit and the motor mechanism |3|. The latter may be similar to that shown in Figs. 1 and 2 or Fig. 6, and is shown as arranged to control the elevation of a gun |82 by means of a worm |33 and worm gear |84. Obviously the system may be utilized to control the position of other objects, as already explained.

It is to be understood that the invention is not limited to the details of the mechanisms illustrated by way of example, and that these may be modified without departing from the scope of the invention as defined in the appended claims.

I claim:

1. In a remote control system, in combination,`

an object to be controlled, motor mechanism arranged to position said object, said motor mechanism comprising. two single-phase synchronous motors and a pivoted actuating member tuned in accordance with the difference in rotative speeds of said motors, a single control-circuit to said motors, means for supplying relatively variable frequency alternating currents to said control circuitand for separating the currents at the end of said circuit adjacent the motors to vary the relative speeds 'of said motors and thereby controlk rotating synchronous motor connected .to said control circuit whereby its rotative speed at any `particular moment is aifectedby operation of said phase-adjusting means, said actuating device further comprising a second motor and tuning means for rendering said second motor responsive to the output current of said frequency changer.

3. In a remote control system, in combination, a control station, a receiving station, a control circuit connecting said stations, a source of audiofrequency current at the control station, means including said source for'impressing currents of two different frequencies on said control circuit, lters at the receiving station for separating said currents of different frequencies, motor means at the receiving station connected to said control circuit and responsive to both said currents, a movable control element at the control station and means including said control element for shifting the phase or frequency of one of said currents in the control circuit to effectsJ corresponding response oi' the motor means at the receiving station.

4. In a remote control system, in combination, a control station, a receiving station, a control circuit between said stations consisting of a single circuit, an audio-frequency oscillator at the control station, means for deriving currents of two different frequencies from said oscillator and for varying the dierence between said frequencies, means for impressing both currents on said control circuit, fllter means at the receiving station for separating said currents oi' different irequencies, synchronous motor means at the receiving station connected to be responsive to the transmitted currents of both frequencies and a controlled member `actuated by said motor means in accordance with variations in the frequencies of said currents.

5. In a remote control system, in combination, a. control station, a receiving station, an oscillator at the control station, a frequency changer connected to said oscillator, means for combining the output currents of said oscillator and said frequency changer, phase shifting means for swinging the frequency of one current relative to the other, means for transmitting the relatively variable-frequency currents to the receiving station, a movable member to be controlled at the receiving station anddiiferential motor means for actuating said movable member connected to be responsive to the frequencies of the transmitted currents.

6. In a remote control system, in combination, an object to be controlled, a control circuit, means for generating alternating current oi' constant frequency, a frequency changer connected to said generating means, and arranged to provide output current of a different constant frequency, means for impressing the output currents of said generating means and lsaid frequency changer upon said control circuit and fo;` varying the phase or frequency relation between the resultant currents of different frequencies traversing said control circuit, filters for separating the last-mentioned currents 'at the remote end of the circuit, rotating synchronous motor means connected thereto to operate at relative speeds dependent upon the changes in the phase or frequency relation between the currents traversing the control circuit and a connection between said motor means and the controlled object to move said object in accordance with the changes in said phase or frequency relation.

\ AUSTIN G. COOLEY. 

